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iou.py
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iou.py
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class Iouloss(nn.Module):
def __init__(self):
super(Iouloss, self).__init__()
def trangle_area(self,a, b, c):
return torch.abs((a[0] - c[0]) * (b[1] - c[1]) - (a[1] - c[1]) *
(b[0] - c[0])) / 2.0
def rbbox_to_corners(self,rbbox):
# generate clockwise corners and rotate it clockwise
# 顺时针方向返回角点位置
cx, cy, x_d, y_d, angle = rbbox
a_cos = torch.cos(angle)
a_sin = torch.sin(angle)
corners_x = [-x_d / 2, -x_d / 2, x_d / 2, x_d / 2]
corners_y = [-y_d / 2, y_d / 2, y_d / 2, -y_d / 2]
corners = [0] * 8
for i in range(4):
corners[2 *
i] = a_cos * corners_x[i] + \
a_sin * corners_y[i] + cx
corners[2 * i +
1] = -a_sin * corners_x[i] + \
a_cos * corners_y[i] + cy
return corners
# 点在四边形(矩形)内?
def point_in_quadrilateral(self,pt_x, pt_y, corners):
a=(self.trangle_area([pt_x, pt_y], [corners[0],corners[1]] , [corners[2],corners[3]]) +
self.trangle_area([pt_x, pt_y], [corners[4],corners[5]] , [corners[2],corners[3]]) +
self.trangle_area([pt_x, pt_y], [corners[4],corners[5]] , [corners[6],corners[7]])+
self.trangle_area([pt_x, pt_y], [corners[0],corners[1]] , [corners[6],corners[7]]))
b=self.trangle_area([corners[4], corners[5]], [corners[0],corners[1]] , [corners[2],corners[3]])+self.trangle_area([corners[4], corners[5]], [corners[0],corners[1]] , [corners[6],corners[7]]) + 1e-4
if a > b:
return False
else:
return True
# 相交后转化为直线交点
def line_segment_intersection(self,pts1, pts2, i, j):
# pts1, pts2 为corners
# i j 分别表示第几个交点，取其和其后一个点构成的线段
# 返回为 tuple(bool, pts) bool=True pts为交点
A, B, C, D, ret = [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]
A[0] = pts1[2 * i]
A[1] = pts1[2 * i + 1]
B[0] = pts1[2 * ((i + 1) % 4)]
B[1] = pts1[2 * ((i + 1) % 4) + 1]
C[0] = pts2[2 * j]
C[1] = pts2[2 * j + 1]
D[0] = pts2[2 * ((j + 1) % 4)]
D[1] = pts2[2 * ((j + 1) % 4) + 1]
BA0 = B[0] - A[0]
BA1 = B[1] - A[1]
DA0 = D[0] - A[0]
CA0 = C[0] - A[0]
DA1 = D[1] - A[1]
CA1 = C[1] - A[1]
# 叉乘判断方向
acd = DA1 * CA0 > CA1 * DA0
bcd = (D[1] - B[1]) * (C[0] - B[0]) > (C[1] - B[1]) * (D[0] - B[0])
if acd != bcd:
abc = CA1 * BA0 > BA1 * CA0
abd = DA1 * BA0 > BA1 * DA0
# 判断方向
if abc != abd:
DC0 = D[0] - C[0]
DC1 = D[1] - C[1]
ABBA = A[0] * B[1] - B[0] * A[1]
CDDC = C[0] * D[1] - D[0] * C[1]
DH = BA1 * DC0 - BA0 * DC1
Dx = ABBA * DC0 - BA0 * CDDC
Dy = ABBA * DC1 - BA1 * CDDC
ret[0] = Dx / DH
ret[1] = Dy / DH
return True, ret
return False, ret
# 顶点排序
def sort_vertex_in_convex_polygon(self,int_pts, num_of_inter):
def _cmp(pt, center):
vx = pt[0] - center[0]
vy = pt[1] - center[1]
d = torch.sqrt(vx * vx + vy * vy)
vx /= d
vy /= d
if vy < 0:
vx = -2 - vx
return vx
if num_of_inter > 0:
center = [0, 0]
for i in range(num_of_inter):
center[0] = center[0]+ int_pts[i][0]
center[1] = center[1]+ int_pts[i][1]
center[0] = center[0] /num_of_inter
center[1] = center[1] /num_of_inter
int_pts.sort(key=lambda x: _cmp(x, center))
# 将多边形转化为多个三角形面积之和
def area(self,int_pts, num_of_inter):
area_val = torch.tensor([0]).to('cuda')
for i in range(num_of_inter - 2):
area_val = area_val+ abs(
self.trangle_area(int_pts[0], int_pts[i + 1],
int_pts[i + 2]))
return area_val
def _gather_feat(self, feat, ind, mask=None):
dim = feat.size(2)
ind = ind.unsqueeze(2).expand(ind.size(0), ind.size(1), dim)
feat = feat.gather(1, ind)
if mask is not None:
mask = mask.unsqueeze(2).expand_as(feat)
feat = feat[mask]
feat = feat.view(-1, dim)
return feat
def _tranpose_and_gather_feat(self, feat, ind):
feat = feat.permute(0, 2, 3, 1).contiguous()
feat = feat.view(feat.size(0), -1, feat.size(3))
feat = self._gather_feat(feat, ind)
return feat
def forward(self, output, mask, ind, target):
# torch.Size([1, 2, 152, 152])
# torch.Size([1, 500])
# torch.Size([1, 500])
# torch.Size([1, 500, 2])
pred = self._tranpose_and_gather_feat(output, ind) # torch.Size([1, 500, 2])
if mask.sum():
mask = mask.unsqueeze(2).expand_as(pred).bool()
a = pred.masked_select(mask).reshape(-1,10)
b = target.masked_select(mask).reshape(-1,10)
a = a[:,0:8]
b = b[:,0:8]
loss = torch.tensor([0]).to('cuda')
for k in range(int(a.shape[0])):
pre = a[k,:]
tar = b[k,:]
lambda0 = 3
pts, num_pts = [], 0
for i in range(4):
point = [pre[2 * i], pre[2 * i + 1]]
if self.point_in_quadrilateral(point[0], point[1],
tar):
num_pts += 1
pts.append(point)
for i in range(4):
point = [tar[2 * i], tar[2 * i + 1]]
if self.point_in_quadrilateral(point[0], point[1],
pre):
num_pts += 1
pts.append(point)
for i in range(4):
for j in range(4):
ret, point = self.line_segment_intersection(pre, tar, i, j)
if ret:
num_pts += 1
pts.append(point)
self.sort_vertex_in_convex_polygon(pts, num_pts)
intersection = self.area(pts, num_pts)
pre_area = self.trangle_area([pre[0],pre[1]], [pre[2],pre[3]],[pre[4],pre[5]]) + self.trangle_area([pre[0],pre[1]], [pre[6],pre[7]],[pre[4],pre[5]])
tar_area = self.trangle_area([tar[0],tar[1]], [tar[2],tar[3]],[tar[4],tar[5]]) + self.trangle_area([tar[0],tar[1]], [tar[6],tar[7]],[tar[4],tar[5]])
iou = intersection/(pre_area + tar_area - intersection)
loss = loss + (1 - torch.pow(iou,lambda0))
return loss/int(a.shape[0])
else:
return 0.